PUBLICATIONS DE L’INSTITUT MATHÉMATIQUE Nouvelle série, tome 96 (110) (2014), 159–168 DOI: 10.2298/PIM1410159G LAGRANGE-TYPE OPERATORS ASSOCIATED WITH Un̺ Heiner Gonska, Ioan Raşa, and Elena-Dorina Stănilă Abstract. We consider a class of positive linear operators which, among others, constitute a link between the classical Bernstein operators and the genuine Bernstein–Durrmeyer mappings. The focus is on their relation to certain Lagrange-type interpolators associated to them, a well known feature in the theory of Bernstein operators. Considerations concerning iterated Boolean sums and the derivatives of the operator images are included. Our main tool is the eigenstructure of the members of the class. 1. Introduction The present note continues the authors’ research on a class Un̺ of Bernsteintype operators which constitute a link between the classical Bernstein operators Bn (̺ → ∞) and the so-called genuine Bernstein–Durrmeyer operators Un (̺ = 1). This class of operators was introduced by Păltănea in [12] and has since then been the subject of several papers dealing with various aspects of the matter. A detailed description is given in the next section. Here we present their relationship to the Lagrange interpolation using the eigenstructure of the Un̺ , thus extending in a natural way results known for Bn . The eigenstructure is also useful to describe the convergence behavior of iterated Boolean sums based on a single mapping Un̺ , ̺ and n fixed. In the final Section 4 a relationship between certain divided differences used in Section 2 and the representation of the derivatives (Un̺ )(j) is established. 2. Lagrange type operators associated with Un̺ 2.1. A first description of L̺n . Let ̺ > 0 and n > 1 be fixed. Consider the ̺ functionals Fn,k : C[0, 1] → R, k = 0, 1, . . . , n, defined by 2010 Mathematics Subject Classification: Primary: 41A36; Secondary: 41A05. Key words and phrases: Bernstein operators, genuine Bernstein–Durrmeyer operators, Păltănea operators, Lagrange interpolation, eigenstructure, iterated Boolean sum, representation of derivatives. Dedicated to Professor Giuseppe Mastroianni on the occasion of his 75th birthday. 159 160 GONSKA, RAŞA, AND STĂNILĂ ̺ ̺ Fn,0 (f ) = f (0), Fn,n−1 (f ) = f (1), Z 1 k̺−1 t (1 − t)(n−k)̺−1 ̺ f (t) dt, k = 1, . . . , n − 1. Fn,k (f ) = B(k̺, (n − k)̺) 0 The operator Un̺ : C[0, 1] → Πn (the space polynomials of degree no P of algebraic ̺ greater than n) is given by Un̺ (f ; x) := nk=0 Fn,k (f )pn,k (x), f ∈ C[0, 1], where pn,k (x) = nk xk (1 − x)n−k , x ∈ [0, 1]. With a slight abuse of notation consider (n) (n) also the operator Un̺ : Πn → Πn . Its eigenvalues λn,k and eigenfunctions pn,k , k = 0, 1, . . . , n, are described in [4]; in particular, (n) (n) (n) (n) 1 = λ̺,0 = λ̺,1 > λ̺,2 > λ̺,3 > · · · > λ(n) ̺,n > 0, which means that Un̺ : Πn → Πn is invertible. Consider the inverse operator (Un̺ )−1 : Πn → Πn (note the domain of definition here!) and define L̺n : C[0, 1] → Πn by L̺n = (Un̺ )−1 ◦ Un̺ . (2.1) Then Un̺ (L̺n f ) = Un̺ (f ), f ∈ C[0, 1], which leads to (2.2) ̺ ̺ Fn,k (L̺n f ) = Fn,k (f ), f ∈ C[0, 1], k = 0, 1, . . . , n. Relation (2.2) expresses an interpolatory property with respect to the functionals ̺ ̺ Fn,0 , . . . , Fn,n ; more precisely, given f ∈ C[0, 1], L̺n f is the unique polynomial in Πn satisfying (2.2). In particular, Ln p = p, for all p ∈ Πn . It is known [3] that (2.3) ̺ lim Fn,k (f ) = f (k/n), f ∈ C[0, 1], k = 0, 1, . . . , n. ̺→∞ This entails lim Un̺ (f ) = Bn f, uniformly on [0, 1], (2.4) ̺→∞ for all f ∈ C[0, 1]; here Bn denotes the classical Bernstein operator on C[0, 1]. Let Ln be the Lagrange operator on C[0, 1] based on the nodes 0, n1 , . . . , n−1 n , 1. It is easy to see that Ln = Bn−1 ◦ Bn , (2.5) B (Bn )−1 n where C[0, 1] −−− → Πn −−−−−→ Πn . Similar to the above, the symbol (Bn )−1 means the inverse of Bn : Πn → Πn . We will see that (2.6) lim L̺n (f ) = Ln f, uniformly on [0, 1], ̺→∞ for all f ∈ C[0, 1]. If we interpret (2.4) by saying that Un∞ = Bn , then (2.6) can be interpreted as L∞ n = Ln . On the other hand, one has (see [4, (3.3)]) (2.7) Un̺ f = n X k=0 (n) (n) (n) λ̺,k p̺,k µ̺,k (f ), f ∈ C[0, 1], ̺ LAGRANGE-TYPE OPERATORS ASSOCIATED WITH Un (n) 161 (n) where µ̺,k are the dual functionals of p̺,k . This leads to L̺n (f ) = (Un̺ )−1 (Un̺ f ) = n X (n) λ̺,k k=0 L̺n (f ) = (2.8) n X 1 (n) (n) p µ (f ), (n) ̺,k ̺,k λ̺,k i.e., (n) (n) p̺,k µ̺,k (f ), f ∈ C[0, 1]. k=0 Un̺ and L̺n , expressed by (2.7) and (2.8), is similar to So the relationship between the relationship between Bn = Un∞ and Ln = L∞ n , described in [1, Sect. 6]. To conclude this section let us recall that Un̺ = Bn ◦ Bn̺ where x = 0; f (0), Z 1 1 Br (f ; x) = trx−1 (1 − t)r−rx−1 f (t) dt, 0 < x < 1; B(rx, r − rx) 0 f (1), x = 1. is the Lupaş–Mühlbach Beta operator (see [7, p. 63], [11]). From (2.1) and (2.5) it follows L̺n = (Bn̺ )−1 ◦ Ln ◦ Bn̺ , ̺ > 0, (2.9) i.e., the operators L̺n and Ln are similar. 2.2. A concrete approach to L̺n . In order to obtain other representations of the operators L̺n we shall use a classical method described, for example, in [13, Sect. 1.2], [2], [8, Sect. 1.3]. Let n > 1, ̺ > 0 and f ∈ C[0, 1] be fixed. Then L̺n f ∈ Πn has the form L̺n f = c0 e0 + c1 e1 + · · · + cn en , where ej (x) = xj , x ∈ [0, 1], j > 0, and cj ∈ R. According to (2.2), the coefficients c0 , . . . , cn satisfy the system of equations L̺n f = c0 e0 + c1 e1 + · · · + cn en ̺ ̺ ̺ ̺ Fn,0 (f ) = c0 Fn,0 (e0 ) + c1 Fn,0 (e1 ) + · · · + cn Fn,0 (en ) ... ̺ ̺ ̺ ̺ Fn,n (f ) = c0 Fn,n (e0 ) + c1 Fn,n (e1 ) + · · · + cn Fn,n (en ). By eliminating c0 , . . . , cn , we get ̺ Ln f e0 ̺ ̺ Fn,0 (f ) Fn,0 (e0 ) (2.10) ... . . . ̺ ̺ Fn,n (f ) Fn,n (e0 ) e1 ̺ Fn,0 (e1 ) ... ̺ Fn,n (e1 ) ... ... ... ... en ̺ Fn,0 (en ) =0 . . . ̺ Fn,n (en ) ̺ Since Fn,j (em ) = (i̺)m /(n̺)m , where by xk = x(x + 1) · · · · · (x + k − 1) we have denoted the rising factorial, from (2.10) we get after elementary computations 162 GONSKA, RAŞA, AND STĂNILĂ (2.11) 0 e0 ̺ Fn,0 (f ) 1 1 −1 n−1 ̺ ,1 Ln f = −V 0, , . . . , ̺ Fn,1 (f ) 1 n n ... ... F ̺ (f ) 1 n,n (n̺)1̄ e1 (n̺) (0̺)1̄ (n̺) (1̺)1̄ (n̺) ... (n̺)1̄ (n̺) ... ... ... ... ... (n̺)n̄ en (n̺)n (0̺)n̄ (n̺)n n̄ (1̺) (n̺)n ... (n̺)n̄ (n̺)n where V is the Vandermonde determinant. Now we are in the position to prove (2.6). Theorem 2.1. For each f ∈ C[0, 1] we have lim L̺n f = Ln f, uniformly on [0, 1]. ̺→∞ Proof. Let us remark that (2.12) j k (j̺)k̄ = . ̺→∞ (n̺)k n lim From (2.3), (2.11), and (2.12) we deduce (2.13) 0 e0 f (0) 1 1 n − 1 −1 f ( n1 ) 1 ̺ lim L f = −V 0, , . . . , ,1 ... ... ̺→∞ n n n n−1 f ( 1 n ) f (1) 1 e1 0 1 n ... n−1 n 1 ... ... ... ... ... ... en 0 1 n (n) . . . . n ( n−1 n ) 1 Since the right-hand side of (2.13) is Ln f (see, e.g., [15, Sect. 3.1], [8, Sect. 1.3]), the proof is complete. 2.3. The associated divided difference. The coefficient of en in the expression of Ln f is the divided difference of f at the nodes 0, n1 , . . . , n−1 n , 1, and is given by (see e.g. [15, Sect. 2.6]): (2.14) h 1 i 1 n−1 n − 1 −1 0, , . . . , , 1; f = V 0, , . . . , ,1 n n n n 1 0 0 ... 1 1 2 1 ( ) ... n n ... ... × . . . . . . n−1 n−1 2 1 ( ) . .. n n 1 1 1 ... 0 ( n1 )n−1 ... n−1 ( n−1 n ) 1 ̺ ̺ ̺ Let us denote by [Fn,0 , Fn,1 , . . . , Fn,n ; f ] the coefficient of en in L̺n f . f (0) f ( n1 ) . . . . f ( n−1 n ) f (1) ̺ LAGRANGE-TYPE OPERATORS ASSOCIATED WITH Un Theorem 2.2. For each f ∈ C[0, 1] we have n − 1 −1 (n̺)n̄ 1 ̺ ̺ ̺ V 0, , . . . , ,1 (2.15) [Fn,0 , Fn,1 , . . . , Fn,n ; f] = (n̺)n n n 1 0 0 ... 0 1 1 2 1 n−1 1 ( ) . . . ( ) n n n × . . . . . . ... ... ... n−1 2 n−1 n−1 n−1 1 ( ) . . . ( n n n ) 1 1 1 ... 1 Proof. From (2.11) we get immediately 163 ̺ Fn,0 (f ) ̺ Fn,1 (f ) . ... ̺ Fn,n−1 (f ) F ̺ (f ) n,n ̺ ̺ ̺ [Fn,0 , Fn,1 , . . . , Fn,n ; f] (0̺)1̄ 1 n̺ 1̄ −1 (1̺) n̄ (n̺) 1 n−1 1 = V 0, , . . . , ,1 n̺ (n̺)n n n . . . ... (n̺)1̄ 1 n̺ 1 (0̺)1̄ (n̺)n̄ /(n̺)n 1 (1̺)1̄ = n(n−1) 1 n−1 ... (n̺) 2 V 0, n , . . . , n , 1 . . . 1 (n̺)1̄ 1 0 1 (n̺)n̄ /(n̺)n ̺ = . . . . . . n(n−1) (n̺) 2 V 0, n1 , . . . , n−1 , 1 n 1 n̺ ... ... ... ... (0̺)n−1 (n̺)n−1 (1̺)n−1 (n̺)n−1 ... (n̺)n−1 (n̺)n−1 ... ... ... ... (0̺)n−1 (1̺)n−1 ... (n̺)n−1 ... ... ... ... 0 ̺n−1 ... (n̺)n−1 and this leads to (2.15). ̺ Fn,0 (f ) ̺ Fn,1 (f ) ... ̺ Fn,n (f ) ̺ Fn,0 (f ) ̺ Fn,1 (f ) ... ̺ Fn,n (f ) ̺ Fn,0 (f ) ̺ Fn,1 (f ) . . . F ̺ (f ) n,n Remark 2.1. From (2.3), (2.14) and (2.15) we derive h 1 i n−1 ̺ ̺ ̺ lim [Fn,0 , Fn,1 , . . . , Fn,n ; f ] = 0, , . . . , , 1; f ̺→∞ n n for all f ∈ C[0, 1]. Moreover, let f ∈ C[0, 1] and Φn a (Lagrange type) polynomial ̺ with Φn ∈ Πn , Φn ( nj ) = Fn,j (f ), j = 0, . . . , n. From (2.14) and (2.15) it is easy to deduce i (n̺)n̄ h 1 n−1 ̺ ̺ ̺ [Fn,0 , Fn,1 , . . . , Fn,n ; f] = 0, , . . . , , 1; Φ . n (n̺)n n n The last (classical) divided difference can be computed by recurrence; see [15]. Remark 2.2. Using (2.8), we see that (2.16) ̺ ̺ ̺ µ(n) ̺,n = [Fn,0 , Fn,1 , . . . , Fn,n ; ·]. For the Bernstein operator (i.e., for ̺ → ∞), (2.16) can be found in [1, p. 164] . 164 GONSKA, RAŞA, AND STĂNILĂ Remark 2.3. u̺n+1 := en+1 − L̺n en+1 is the unique monic polynomial in Πn+1 n−1 1 such that L̺n u̺n+1 = 0. For example, u∞ n+1 = x(x − 1)(x − n ) · · · · · (x − n ). 1 Moreover, un+1 (x) = x(x − 1)Jn−1 (x), where J0 (x), J1 (x), . . . are the monic Jacobi polynomials, orthogonal on [0, 1] with respect to the weight function x(1 − x). 1 1 Indeed, Fn,0 (u1n+1 ) = Fn,n (u1n+1 ) = 0, and Z 1 Z 1 tk−1 (1 − t)n−k−1 u1n+1 (t) dt = tk−1 (1 − t)n−k−1 t(t − 1)Jn−1 (t) dt = 0 0 0 (since for all k = 1, . . . , n − 1, tk−1 (1 − t)n−k−1 is a polynomial of degree n − 2). 1 This implies Fn,k (u1n+1 ) = 0, k = 1, . . . , n − 1, and so L1n (u1n+1 ) = 0. For general values of ̺ we have not found such compact representations. Now we shall prove a general result. Theorem 2.3. The polynomial u̺n+1 has n + 1 distinct roots in [0, 1]. −1 Proof. By using Remark 2.3 and (2.9) we get (Bn̺ ◦ Ln ◦ Bn̺ )(u̺n+1 ) = 0, which entails Ln (Bn̺ u̺n+1 ) = 0. Now the same Remark 2.3 yields Bn̺ u̺n+1 = (n̺)n+1 (n̺)n+1 u∞ n+1 . So Bn̺ u̺n+1 has n + 1 distinct roots in [0, 1]. According to [6], u̺n+1 has at least n + 1 distinct roots in [0, 1]; to finish the proof, it suffices to remark that u̺n+1 is a polynomial of degree n + 1. Now let us recall the representation of Ln in terms of the fundamental Lagrange polynomials: n k X , f ∈ C[0, 1], x ∈ [0, 1]. Ln f (x) = ln,k (x)f n k=0 Using (2.9) we infer that L̺n has a similar representation, namely L̺n f (x) = n X ̺ ̺ ln,k (x)Fn,k (f ), k=0 where (2.17) −1 ̺ ln,k := Bn̺ (ln,k ), k = 0, 1, . . . , n. ̺ Theorem 2.4. For each k = 0, 1, . . . , n, the polynomial ln,k has n distinct roots in [0, 1]. ̺ Proof. Since, according to (2.17), Bn̺ (ln,k ) = ln,k , the proof is similar to that of Theorem 2.3 and we omit it. In what follows we shall establish mean value theorems for the generalized divided difference and for the remainder Rn̺ f := f − L̺n . ̺ LAGRANGE-TYPE OPERATORS ASSOCIATED WITH Un 165 Theorem 2.5. Let n > 1, ̺ > 0 and f ∈ C[0, 1] be given. Then there exist 0 = t0 < t1 < · · · < tn = 1 such that Rn̺ f (ti ) = 0, i = 0, 1, . . . , n. (2.18) ̺ Proof. According to (2.2), Fn,k (Rn̺ f ) = 0, k = 0, 1, . . . , n, i.e. Rn̺ f (0) = Rn̺ f (1) = 0, (2.19) (2.20) Set x := (2.21) Z 1 0 ̺ t 1−t , Z tk̺−1 (1 − t)(n−k)̺−1 Rn̺ f (t) dt = 0, k = 1, . . . , n − 1. j := k − 1, and h(x) := Rn̺ f ∞ x1/̺ 1+x1/̺ , x > 0. Then (2.20) becomes (1 + x1/̺ )−n̺ xj h(x) dx = 0, j = 0, 1, . . . , n − 2. 0 Suppose that the number of the roots of h in (0, +∞) is at most n − 2, i.e., {x ∈ (0, +∞) : h(x) = 0} = {x1 , . . . , xr }, r 6 n − 2. Then there exists a polynomial p ∈ Πn−2 such that {x ∈ (0, +∞) : p(x) = 0} ⊂ {x1 , . . . , xr } and, moreover, Z ∞ (2.22) (1 + x1/̺ )−n̺ p(x)h(x) dx > 0. 0 Obviously (2.22) contradicts (2.21), which means that h has at least n − 1 roots in (0, +∞). It follows that Rn̺ f has at least n − 1 roots in (0, 1). Together with (2.19), this proves the theorem. Corollary 2.1. Let n > 1, ̺ > 0 and f ∈ C n [0, 1] be given. Then there exists ξ ∈ (0, 1) such that f (n) (ξ) ̺ ̺ ̺ ; f] = [Fn,0 , Fn,1 , . . . , Fn,n . n! Proof. According to Theorem 2.5, Rn̺ f has at least n + 1 roots in [0, 1]. It follows that (Rn̺ f )(n) has at least a root ξ ∈ (0, 1). Thus ̺ ̺ ̺ 0 = (Rn̺ f )(n) (ξ) = f (n) (ξ) − n![Fn,0 , Fn,1 , . . . , Fn,n ; f ], and the proof is finished. Let now n > 1, ̺ > 0 and f ∈ C n+1 [0, 1] be given. Consider the points t0 , t1 , . . . , tn satisfying (2.18), and let ω(t) = (t − t0 ) · · · (t − tn ). Corollary 2.2. Let x ∈ [0, 1] r {t0 , t1 , . . . , tn }. Under the above assumption there exists ηx ∈ (0, 1) such that Rn̺ f (x) = ω(x) f (n+1) (ηx ) . (n + 1)! Proof. Consider the function w(t) = ω(x)Rn̺ f (t) − ω(t)Rn̺ f (x), t ∈ [0, 1]. Then x, t0 , . . . , tn are roots of w, which means that there exists ηx ∈ (0, 1) such that w(n+1) (ηx ) = 0. Now it suffices to remark that w(n+1) (t) = ω(x)f (n+1) (t) − (n + 1)!Rn̺ f (x). 166 GONSKA, RAŞA, AND STĂNILĂ Corollaries 2.1 and 2.2 generalize the mean value theorems for the divided difference and the remainder in the classical Lagrange interpolation; see [15, Sect. 3.1], [8, Sect. 1.4].. 3. Iterated Boolean sums of the operators Un̺ LM ̺ For M > 1, let Un = I − (I − Un̺ )M be the iterated Boolean sum of ̺ Un ; here I stands for the identity operator on C[0, 1]. Iterated Boolean sums of the classical Bernstein operator and modifications thereof were investigated by numerous authors in the past, among them Mastroiani and Occorsio [9, 10]. Some historical information on this method which may be traced to Natanson can be found in [5]. From a general result of Wenz [16, Theorem 2] it follows that LM ̺ limM→∞ Un f = L̺n f , f ∈ C[0, 1], n > 1. With the notation from the preceding sections, we can say more, namely Theorem 3.1. Let n > 2 and f ∈ C[0, 1] be given. Then MM ̺ ̺ ̺ −M Un̺ f − L̺n f = −[Fn,0 , Fn,1 , . . . , Fn,n ; f ]p(n) (3.1) lim (1 − λ(n) ̺,n , ̺,n ) M→∞ uniformly on [0, 1]. Proof. We have, according to (2.7) MM M M X Un̺ f = I − (I − Un̺ )M f = (−1)i+1 (Un̺ )i f i i=1 = M X (−1)i+1 i=1 = = n X k=0 n X n M X (n) (n) i p̺,k µ̺,k (f ) k=0 M X (n) i (n) (n) λ̺,k p̺,k µ̺,k (f ) (−1)i+1 i=1 (n) (n) M i (n) M p̺,k µ̺,k (f ) 1 − 1 − λ̺,k k=0 (n) i λ̺,k . Combined with (2.8) this yields n MM X (n) (n) (n) M ̺ ̺ Un f − L n f = − p̺,k µ̺,k (f ) 1 − λ̺,k , i.e., k=0 −M 1 − λ(n) ̺,n MM Un̺ f − L̺n f = (n) −p(n) ̺,n µ̺,n (f )− n−1 X (n) (n) µ̺,k (f )µ̺,k (f ) k=0 (n) (n) Since 0 < 1 − λ̺,k / 1 − λ̺,n < 1, k = 0, . . . , n − 1, we get −M MM ̺ ̺ (n) lim 1 − λ(n) U f − L f = −µ(n) ̺,n n n ̺,n (f )p̺,n . (n) M 1 − λ̺,k (n) 1 − λ̺,n . M→∞ To conclude the proof it suffices to use (2.16). Remark 3.1. For ̺ → ∞, (3.1) was obtained in [14, Th. 26.7]. ̺ LAGRANGE-TYPE OPERATORS ASSOCIATED WITH Un 167 4. The derivatives of Un̺ In this section we show that there is a natural relationship between the derivatives of the operator images and the divided differences [. . . ; Φn ] which we introduced in Remark 2.1. Theorem 4.1. With the usual notation the following relationships hold n−1 n−1 hk k + 1 i X X ̺ (i) (Un̺ (f ; x))′ = n pn−1,k (x)∆1 Fn,k (f ) = pn−1,k (x) , ; Φn ; n n k=0 k=0 (ii) (Un̺ (f ; x))(j) = n(n − 1) · · · (n − j + 1) n−j X ̺ pn−j,k (x)∆j Fn,k (f ) = n(n − 1) · · · (n − j + 1) n−j X pn−j,k (x) k=0 k=0 i j! h k k+j , . . . , ; Φ ; n nj n n n n i X X n n k! h 1 k ̺ (iii) Un̺ (f ; x) = ∆k Fn,0 (f )ek (x) = 0, , . . . , ; Φ n ek (x); k k nk n n k=0 k=0 ̺ (f ). where as before Φn nk = Fn,k Proof. (i) The forward difference was defined in [3, p. 792] by j ∆ ̺ Fn,k (f ) = j X j i=0 i ̺ (−1)i+j Fn,k+i (f ). Thus we have hk k + 1 i Φ ( k+1 ) − Φ ( k ) ̺ n n n n ̺ ̺ = n Fn,k+1 (f ) − Fn,k (f ) = n∆1 Fn,k (f ); , ; Φn = k+1 k n n − n n (ii) The first equality can be found in [3, p. 792]. It remains to show that i j! h k k+j ̺ ∆j Fn,k (f ) = j ,..., ; Φn . n n n ̺ j+1 ̺ j ̺ j ̺ We have that ∆ Fn,k (f ) = ∆(∆ Fn,k (f )) = ∆ Fn,k+1 (f ) − ∆j Fn,k (f ). By using the recurrence formula for divided differences (see e.g. [15, p.104]) we get k+j+1 ; Φn − nk , . . . , k+j j! j + 1 k+1 j ̺ j ̺ n ,..., n n ; Φn ∆ Fn,k+1 (f ) − ∆ Fn,k (f ) = j · · k+j+1 n n − nk n i (j + 1)! h k k+j+1 ̺ (f ), = ,..., ; Φn = ∆j+1 Fn,k j+1 n n n n X (Un̺ f )(j) (0) k Un̺ (f ; x) = x j! j=0 ̺ and show that (Un̺ (f ; x))(j) = n(n − 1) · · · (n − j + 1)∆j Fn,0 (f ). To this end we take x = 0 in (ii); because pn−j,0 (0) = 1 and for all k > 1, Pn−j pn−j,k (0) = 0, from k=0 only the first term remains, which concludes the proof. 168 GONSKA, RAŞA, AND STĂNILĂ Remark 4.1. 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